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JRM Vol.11 No.5 pp. 380-386
doi: 10.20965/jrm.1999.p0380
(1999)

Paper:

Laser Detection and Fast Negotiation of Steps with Unknown Position and Height by a Variable-Structure-Type 4-Wheeled Robot

Takeshi Kikkawa*, Osamu Matsumoto** and Kazuo Tani***

*Hokkaido Industrial Reasearch Institute, N19, W11, Kita-ku, Sapporo 060-0819, Japan

**Department of Robotics, Mechanical Engineering Laboratory, MITI, Namiki 1-2, Tsukuba, Ibaraki 305-8564, Japan

***Department of Information Science, Gifu University, Yanagido, Gifu 501-1193, Japan

Received:
April 16, 1999
Accepted:
June 4, 1999
Published:
October 20, 1999
Keywords:
wheeled robot, dynamic trajectory control, step maneuvering, laser range sensor
Abstract

We are developing a simple variable-structure-type 4-wheeled robot that maneuvers over steps, having enabled it to step dynamically over steps of known height and of unknown height within a known small range. We consider cdntrol enabling it to negotiate steps whose height and position are unknown by detecting step position and height using a laser range sensor. We propose in-process planning of a dynamic trajectory during an experiment, enabling the robot to quickly negotiate steps whose position and height are both unknown.

Cite this article as:
Takeshi Kikkawa, Osamu Matsumoto, and Kazuo Tani, “Laser Detection and Fast Negotiation of Steps with Unknown Position and Height by a Variable-Structure-Type 4-Wheeled Robot,” J. Robot. Mechatron., Vol.11, No.5, pp. 380-386, 1999.
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